Detection positioning type unmanned aerial vehicle and positioning method thereof

Abstract

The invention discloses a detection positioning type unmanned aerial vehicle and a positioning method thereof, and relates to the technical field of unmanned aerial vehicle detection.The detection positioning type unmanned aerial vehicle comprises a machine shell, a base frame is installed on the inner side of the machine shell, machine rods are installed at the outer end of the base frame in the circumferential direction at equal angles, and spiral wings are connected to the tops of the outer ends of the machine rods through motors; a speed sensor is arranged below the top of the outer end of the machine rod, a foot stool is connected to the lower end of the machine shell, a ring sleeve is connected to the interior of a cavity in the middle of the base frame, a mounting ball is movably connected to the inner side of the ring sleeve, and a plurality of contact points are distributed on the surface of the mounting ball. Data collection of the real-time flight speed and flight attitude of the unmanned aerial vehicle is completed, flight calculation is performed through the controller so that real-time positioning can be achieved, and through cooperation of an installation ball, a movable assembly, a lower oil pressure assembly and a second oil pressure cavity, a shooting scanning device on the unmanned aerial vehicle can keep a stable shooting angle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle detection, and in particular to a detection and positioning type unmanned aerial vehicle and a positioning method thereof. Background Art

[0002] Detection and positioning UAVs and their positioning methods are widely used in military, security, search and rescue, environmental monitoring and other fields. These UAVs not only need to have autonomous flight and navigation capabilities, but also need to be able to accurately locate targets and transmit data.

[0003] However, most of the existing positioning drones are used to perform positioning flight through a communication system in conjunction with a navigation system, and to locate the exploration area in conjunction with a radar or shooting setting. In actual use, when using drones with this type of positioning method in areas with poor signal coverage, the collected flight speed data and flight trajectory data are prone to loss. When used in areas with large electromagnetic interference, the traditional inertial navigation system in the drone controller is easily interfered with, making it easy to lose the collected flight speed and flight attitude data, resulting in the existing drones being inconvenient to locate through real-time collected flight speed and flight attitude data in areas with poor signals or large electromagnetic interference. On the other hand, when the existing positioning drones are in use, the radar or shooting equipment on the drone needs to use an adjustable gimbal to cooperate with the flight attitude data collected by the inertial navigation system to correct the angle of the shooting and scanning equipment. When used in areas with large electromagnetic interference, the inertial navigation system is easily interfered with and fails. The lack of data in the drone controller leads to untimely adjustment of the equipment on the gimbal, and deviations in the shooting and scanning angles, resulting in the existing drones being inconvenient to correct the angle of the shooting and scanning equipment through flight attitude and flight inertia. Summary of the invention

[0004] The purpose of the present invention is to provide a detection and positioning UAV and a positioning method thereof, so as to solve the problems raised in the above background technology that the existing positioning UAVs are not convenient for positioning through real-time collected flight speed and flight attitude data, and are not convenient for angle correction of shooting and scanning equipment through flight attitude and flight inertia. The technical solution of the present invention aims at the technical problem that the existing technical solutions are too single, and provides a solution that is significantly different from the existing technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a detection and positioning type UAV and a positioning method thereof, comprising a casing, a base frame is installed inside the casing, a machine rod is installed at an equal angle at the outer end of the base frame, a spiral wing is connected to the top of the outer end of the machine rod through a motor, a speed sensor is arranged below the top of the outer end of the machine rod, a tripod is connected to the lower end of the casing, a ring sleeve is connected to the cavity in the middle of the frame, a mounting ball is movably connected to the inner side of the ring sleeve, a plurality of contact points are distributed on the surface of the mounting ball, a contact displacement sensor is installed in the inner cavity of the ring sleeve, a fixing frame is arranged below the mounting ball, a No. 1 ring frame is installed at the lower end of the inner cavity of the mounting ball, a No. 2 ring frame is arranged above the No. 1 ring frame, a connecting frame is arranged above the No. 2 ring frame, and a pendulum block is connected to the lower end of the inner side of the connecting frame through a rope; A movable component, the movable component is arranged between the mounting ball and the fixing frame, and the movable component is used for the circumferential movement of the fixing frame; A lower hydraulic assembly, which is arranged between the first ring frame and the movable assembly and is used to adjust the movable assembly; An upper oil pressure assembly is provided between the second ring frame and the swing block, and is used for adjusting the lower oil pressure assembly.

[0006] Preferably, the inner ring groove of the ring sleeve corresponds to the spherical surface of the mounting ball, and the mounting ball is universally rotatable in the ring sleeve.

[0007] Preferably, the contact points are evenly and symmetrically distributed in the forward, lateral and circumferential directions on the surface of the mounting ball, and the protruding length of the contact points on the surface of the mounting ball is in micrometer order, and the protruding length is set in increments.

[0008] Preferably, the movable component comprises a movable groove, the movable groove is arranged at the bottom of the mounting ball, a movable rod is movably connected to the inner side of the movable groove, and a fixing frame is connected to the lower end of the movable rod.

[0009] Preferably, the upper end of the movable rod is designed as a spherical structure, and the aperture below the movable groove is smaller than the maximum diameter of the spherical structure at the upper end of the movable rod.

[0010] Preferably, the lower oil pressure assembly includes a No. 1 oil pressure ring, which is installed between a No. 1 ring frame and a No. 2 ring frame. A plurality of No. 1 oil pressure cavities are opened at equal angles in the circumferential direction at the upper end of the No. 1 oil pressure ring. A No. 1 plug body is slidably connected to the inner side of the No. 1 oil pressure cavity through a spring. The inner top of the No. 1 plug body corresponds to the position of the ball at the upper end of the movable rod.

[0011] Preferably, the upper oil pressure assembly includes a No. 2 oil pressure ring, which is installed between a No. 2 ring frame and a connecting frame. A plurality of No. 2 oil pressure cavities are opened at equal angles in the circumferential direction at the lower end of the No. 2 oil pressure ring. A No. 2 plug body is slidably connected in the No. 2 oil pressure cavity, and the inner top end of the No. 2 plug body corresponds to the position of the swing block.

[0012] Preferably, the No. 1 oil pressure chamber is located opposite to the No. 2 oil pressure chamber, and the No. 1 oil pressure chamber is connected to the No. 2 oil pressure chamber at a diagonal position through a hose.

[0013] Preferably, the method comprises the following steps: S1: Start the drone and turn on the speed sensor, contact displacement sensor and propeller synchronously through the controller; S2: When the UAV is flying and exploring, the speed sensor on the boom collects the flight speed in real time, and the contact displacement sensor contacts the contact point to collect the attitude adjustment data of the base frame during flight; S3: During takeoff, the mounting ball maintains a horizontal position in the ring, and the mounting frame is connected to the mounting ball through a movable component, so that the equipment on the mounting frame maintains a vertical and stable shooting scanning angle; S4: During the flight hovering process, the fixed frame is affected by inertia and moves in the movable groove in the inertial direction through the movable rod to reduce the impact on the position of the installation ball; S5: The position of the movable rod is corrected by cooperating with the lower hydraulic assembly and the upper hydraulic assembly through the inertial movement of the pendulum block; S6: The drone controller uses the positioning data during flight and cooperates with the radar or camera on the fixed frame to locate the exploration area.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention maintains a horizontal position of the mounting ball and the contact point through the active cooperation of the ring sleeve and the mounting ball. When the base frame is adjusted along with the flight attitude, the ring sleeve drives the contact displacement sensor to contact with the contact points of different protruding lengths, detects the angle data of the flight attitude adjustment of the UAV, and sends it to the controller for collection. The controller then calculates the real-time flight trajectory of the UAV and locates it in conjunction with the speed data detected by the speed sensor. When the communication and navigation system signal is poor and the inertial detection sensor fails due to electromagnetic interference, the UAV flight can still be located in real time through the cooperation of the above parts, thereby further improving the stability and accuracy of the positioning.

[0015] The present invention connects the mounting ball and the movable assembly with the fixed frame, so that when the UAV changes its flight attitude, the scanning and shooting equipment on the fixed frame maintains a stable shooting angle. At the same time, when the UAV is in flight, the fixed frame is offset due to inertia, and the movable groove is circumferentially connected to the movable rod, so that the position of the mounting ball is not affected. In combination with the inertia movement of the pendulum block, the oil in the No. 1 oil pressure chamber is squeezed into the No. 2 oil pressure chamber connected to the diagonal hose, so that the No. 2 plug corrects the position of the movable rod that is offset due to inertia, thereby achieving the effect of maintaining a stable shooting and scanning angle for the equipment on the fixed frame, reducing the dependence on traditional data correction, and further improving the stability and adaptability of shooting and scanning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the internal structure of the present invention; Figure 2 It is a front view structural schematic diagram of the present invention; Figure 3 This is a schematic diagram of the base frame structure of the present invention; Figure 4 This is a schematic diagram of the split structure of the ring sleeve and the mounting ball of the present invention; Figure 5 This is a schematic diagram of the internal structure of the ring sleeve of the present invention; Figure 6 This is a schematic diagram of the front and back structures of the mounting ball, contact point and fixing frame of the present invention; Figure 7 This is a schematic diagram of the internal structure of the mounting ball of the present invention; Figure 8 This is a schematic diagram of the structure of the mounting ball, movable assembly and fixed frame of the present invention; Fig. 9 This is a schematic diagram of the disassembly structure of the installation ball, movable assembly and fixed frame of the present invention; Fig.10 This is a schematic diagram of the structure of the No. 1 ring frame, lower hydraulic assembly and upper hydraulic assembly of this launch; Fig.11 This is a schematic diagram of the disassembled structure of the lower oil pressure assembly of the present invention; Fig.12 This is a schematic diagram of the disassembled structure of the upper oil pressure component of the present invention.

[0017] In the figure: 1. casing; 2. base frame; 3. machine rod; 4. propeller; 5. speed sensor; 6. tripod; 7. ring sleeve; 8. mounting ball; 81. contact point; 9. contact displacement sensor; 10. movable assembly; 101. movable slot; 102. movable rod; 11. fixing frame; 12. No. 1 ring frame; 13. No. 2 ring frame; 14. connecting frame; 15. pendulum block; 16. lower hydraulic assembly; 161. No. 1 hydraulic ring; 162. No. 1 hydraulic chamber; 163. No. 1 plug body; 17. upper hydraulic assembly; 171. No. 2 hydraulic ring; 172. No. 2 hydraulic chamber; 173. No. 2 plug body. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Example 1: Please refer to Figures 1 to 6 The present invention provides a technical solution: a detection and positioning type drone, wherein a base frame 2 is installed inside a housing 1, a machine rod 3 is installed at an equal angle at the outer end of the base frame 2, a spiral wing 4 is connected to the top of the outer end of the machine rod 3 through a motor, a speed sensor 5 is arranged below the top of the outer end of the machine rod 3, a tripod 6 is connected to the lower end of the housing 1, a ring sleeve 7 is connected to the cavity in the middle of the base frame 2, a mounting ball 8 is movably connected to the inner side of the ring sleeve 7, the inner ring groove of the ring sleeve 7 corresponds to the surface of the mounting ball 8, the mounting ball 8 is universally rotated in the ring sleeve 7, and the surface of the mounting ball 8 is distributed There are multiple contact points 81, which are symmetrically distributed at equal angles in the positive, lateral and circumferential directions on the surface of the mounting ball 8. The protruding length of the contact points 81 on the surface of the mounting ball 8 is in the micron level, and the protruding length is set in increments. A contact displacement sensor 9 is installed in the inner cavity of the ring sleeve 7, a fixing frame 11 is arranged below the mounting ball 8, a No. 1 ring frame 12 is installed at the lower end of the inner cavity of the mounting ball 8, a No. 2 ring frame 13 is arranged above the No. 1 ring frame 12, a connecting frame 14 is arranged above the No. 2 ring frame 13, and a pendulum block 15 is connected to the lower inner end of the connecting frame 14 through a rope; When the UAV is flying and exploring, the horizontal position is maintained by the movable cooperation contact point 81 of the ring sleeve 7 and the mounting ball 8. When the base frame 2 is adjusted with the flight attitude, the contact displacement sensor 9 contacts the contact points 81 of different protruding lengths, detects the angle data of the UAV's flight attitude adjustment, and sends it to the controller for collection. The controller then cooperates with the speed data detected by the speed sensor 5 to calculate the real-time flight trajectory of the UAV and locate it.

[0020] Example 2: Based on Example 1, please refer to Figures 1 to 12A base frame 2 is installed on the inner side of the casing 1, and a rod 3 is installed at an equal angle on the outer end of the base frame 2. The top of the outer end of the rod 3 is connected to a spiral wing 4 through a motor, and a speed sensor 5 is arranged below the top of the outer end of the rod 3. The lower end of the casing 1 is connected to a tripod 6, and a ring sleeve 7 is connected to the cavity in the middle of the base frame 2. A mounting ball 8 is movably connected to the inner side of the ring sleeve 7, and a plurality of contact points 81 are distributed on the surface of the mounting ball 8. A contact displacement sensor 9 is installed in the inner cavity of the ring sleeve 7, and a fixing frame 11 is arranged below the mounting ball 8. A No. 1 ring frame 12 is installed at the lower end of the inner cavity of the mounting ball 8, a No. 2 ring frame 13 is arranged above the No. 1 ring frame 12, and a connecting frame 14 is arranged above the No. 2 ring frame 13. The lower end of the inner side of the connecting frame 14 is connected to a swing block 15 through a rope; The movable component 10 is arranged between the mounting ball 8 and the fixing frame 11. The movable component 10 includes a movable groove 101. The movable groove 101 is opened at the bottom of the mounting ball 8. A movable rod 102 is movably connected inside the movable groove 101. The upper end of the movable rod 102 is designed as a spherical structure. The aperture below the movable groove 101 is smaller than the maximum diameter of the spherical structure at the upper end of the movable rod 102. The lower end of the movable rod 102 is connected to the fixing frame 11. The movable component 10 is used for the circumferential movement of the fixing frame 11. The lower hydraulic assembly 16 is arranged between the No. 1 ring frame 12 and the movable assembly 10. The lower hydraulic assembly 16 includes a No. 1 hydraulic ring 161, which is installed between the No. 1 ring frame 12 and the No. 2 ring frame 13. The upper end of the No. 1 hydraulic ring 161 is provided with a plurality of No. 1 hydraulic cavities 162 at equal angles in the circumferential direction. The inner side of the No. 1 hydraulic cavity 162 is connected to a No. 1 plug body 163 through a spring sliding connection. The inner top of the No. 1 plug body 163 corresponds to the position of the ball at the upper end of the movable rod 102. The lower hydraulic assembly 16 is used to adjust the movable assembly 10; The upper oil pressure assembly 17 is arranged between the No. 2 ring frame 13 and the swing block 15. The upper oil pressure assembly 17 includes a No. 2 oil pressure ring 171, which is installed between the No. 2 ring frame 13 and the connecting frame 14. The lower end of the No. 2 oil pressure ring 171 is provided with a plurality of No. 2 oil pressure chambers 172 at equal angles in the circumferential direction. A No. 2 plug body 173 is slidably connected in the No. 2 oil pressure chamber 172. The inner top of the No. 2 plug body 173 corresponds to the position of the swing block 15. The No. 1 oil pressure chamber 162 is opposite to the No. 2 oil pressure chamber 172. The No. 1 oil pressure chamber 162 is connected to the No. 2 oil pressure chamber 172 at the diagonal position through a hose. The upper oil pressure assembly 17 is used to adjust the lower oil pressure assembly 16; During the flight exploration process, the installation ball 8 and the movable component 10 are connected to the fixed frame 11, so that when the UAV changes its flight attitude, the scanning and shooting equipment on the fixed frame 11 maintains a stable shooting angle. At the same time, the inertia during the flight of the UAV causes the fixed frame 11 to shift, and the movable groove 101 is circumferentially connected to the movable rod 102 to keep the position of the installation ball 8 unchanged. Then, the inertial movement of the pendulum block 15 is coordinated to squeeze the oil in the No. 1 oil pressure chamber 162 into the No. 2 oil pressure chamber 172 connected to the diagonal hose, so that the No. 2 plug body 173 corrects the position of the movable rod 102 that is shifted due to inertia.

[0021] Example 3: Based on Example 2, please refer to Figures 1 to 12 , the method comprises the following steps: S1: Start the drone and turn on the speed sensor 5, the contact displacement sensor 9 and the propeller 4 synchronously through the controller; S2: When the UAV is flying and exploring, the flight speed is collected in real time through the speed sensor 5 on the machine rod 3, and the attitude adjustment data of the base frame 2 during the flight process is collected through the contact displacement sensor 9 contacting the contact point 81; S3: During takeoff, the mounting ball 8 maintains a horizontal position in the ring 7, and the fixing frame 11 is connected to the mounting ball 8 through the movable assembly 10, so that the equipment on the fixing frame 11 maintains a vertical and stable shooting scanning angle; S4: During the circling flight, the fixed frame 11 is affected by inertia and moves in the movable groove 101 through the movable rod 102 in the inertia direction, thereby reducing the influence on the position of the mounting ball 8; S5: The swing block 15 moves in the inertial direction, and cooperates with the lower hydraulic assembly 16 and the upper hydraulic assembly 17 to correct the position of the movable rod 102; S6: The drone controller uses the positioning data during flight and cooperates with the radar or camera on the fixed frame 11 to locate the exploration area.

[0022] Working principle: When using the detection and positioning UAV and its positioning method, the operator first places the UAV at the take-off point, sends a signal to the controller in the housing 1 through the remote control, and turns on the spiral wing 4. At this time, the controller simultaneously turns on the contact displacement sensor 9 and the speed sensor 5, the spiral wing 4 rotates, and the machine rod 3 drives the base 2 to take off and rise. At the same time, the operator adjusts the speed difference between the multiple spiral wings 4 through the remote control to complete the operation of the UAV moving forward or turning, and scans and records the hovering area through the radar equipment or shooting equipment installed on the fixed frame 11; In the above process, when the spiral wing 4 drives the base 2 to rise vertically, the current contact displacement sensor 9 conflicts with the circumferential contact point 81 on the mounting ball 8 and sends a signal to the controller for collection. At the same time, the flight speed of the base 2 is detected by the speed sensor 5 when the base 2 rises, and the speed is sent to the controller for collection. Then, when the drone moves forward or turns and hovers, the front spiral wing 4 and the rear spiral wing 4 in the forward direction have different rotation speeds, which produces a lift difference, causing the base 2 to drive the ring sleeve 7 to tilt on the mounting ball 8. The contact displacement sensor 9 in the tilt direction of the ring sleeve 7 conflicts with the contact point 81 on the surface of the mounting ball 8 in the tilt direction during this process, and generates different contact signals and sends them to the controller. The controller collects the information. When turning during the forward flight, the spiral wings 4 on both sides of the forward direction adjust their rotation speed again, so that the base frame 2 drives the ring sleeve 7 to tilt left and right on the mounting ball 8 again to adjust the flight attitude. The contact displacement sensor 9 that adjusts the left and right tilt in the ring sleeve 7 contacts the contact points 81 on the left and right sides of the surface of the mounting ball 8 during this process, and generates different contact signals again to send to the controller for collection. At the same time, the flight trajectory and positioning data are calculated and generated through the data collected by the controller in conjunction with the speed data detected by the speed sensor 5 during the flight, and then the radar equipment or shooting equipment on the fixed frame 11 is used to scan and locate the hovering flight area. During the above-mentioned flight process, the mounting ball 8 always maintains a horizontal position in the ring sleeve 7 due to the influence of the center of gravity and gravity, so that the shooting and scanning equipment on the fixed frame 11 maintains a relatively stable vertical shooting and scanning angle. When the UAV moves forward, turns and hovers, due to the influence of speed and inertia, the fixed frame 11 and the movable rod 102 are tilted in the corresponding direction. At this time, the movable rod 102 moves in the movable groove 101 to prevent the horizontal position of the mounting ball 8 in the ring sleeve 7 from changing. At the same time, in this process, the pendulum block 15 is synchronously tilted in the corresponding direction and contacts the No. 2 plug body 173 at the corresponding position, so that the No. 2 plug body 173 moves in the No. 2 oil pressure chamber 172, and squeezes the oil into the diagonally connected No. 1 oil pressure chamber 162 through the hose, so that the No. 1 plug body 163 moves inward, corrects the position of the movable rod 102, and improves the stability of the shooting and scanning angle of the equipment on the fixed frame 11.

[0023] The contents not described in detail in this specification belong to the prior art known to the professional and technical personnel in this field. In the description of the present invention, unless otherwise specified, "multiple" means two or more; the orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A detection and positioning UAV, characterized in that: The invention comprises a casing (1), a base frame (2) is installed inside the casing (1), a machine rod (3) is installed at an equal angle in the circumferential direction on the outer end of the base frame (2), a spiral wing (4) is connected to the top of the outer end of the machine rod (3) via a motor, a speed sensor (5) is arranged below the top of the outer end of the machine rod (3), a tripod (6) is connected to the lower end of the casing (1), a ring sleeve (7) is connected in the middle cavity of the base frame (2), a mounting ball (8) is movably connected to the inner side of the ring sleeve (7), and the mounting ball (8) is movably connected to the inner side of the ring sleeve (7). A plurality of contact points (81) are distributed on the surface of the ball (8), a contact displacement sensor (9) is installed in the inner cavity of the ring sleeve (7), a fixing frame (11) is arranged below the mounting ball (8), a first ring frame (12) is installed at the lower end of the inner cavity of the mounting ball (8), a second ring frame (13) is arranged above the first ring frame (12), a connecting frame (14) is arranged above the second ring frame (13), and the inner lower end of the connecting frame (14) is connected to a swing block (15) via a rope; A movable component (10), the movable component (10) being arranged between the mounting ball (8) and the fixing frame (11), the movable component (10) being used for the fixing frame (11) to move in a circumferential direction; A lower oil pressure assembly (16), wherein the lower oil pressure assembly (16) is arranged between the first ring frame (12) and the movable assembly (10), and the lower oil pressure assembly (16) is used to adjust the movable assembly (10); An upper oil pressure assembly (17), wherein the upper oil pressure assembly (17) is arranged between the second ring frame (13) and the swing block (15), and the upper oil pressure assembly (17) is used to adjust the lower oil pressure assembly (16).

2. A detection and positioning UAV according to claim 1, characterized in that: The inner ring groove of the ring sleeve (7) corresponds to the spherical surface of the mounting ball (8), and the mounting ball (8) is universally rotatable in the ring sleeve (7).

3. A detection and positioning UAV according to claim 2, characterized in that: The contact points (81) are symmetrically distributed at equal angles in the forward, lateral and circumferential directions on the surface of the mounting ball (8); the protruding length of the contact points (81) on the surface of the mounting ball (8) is in the micrometer order, and the protruding length is set in increments.

4. A detection and positioning UAV according to claim 3, characterized in that: The movable assembly (10) comprises a movable groove (101), the movable groove (101) being formed at the bottom of the mounting ball (8), a movable rod (102) being movably connected to the inside of the movable groove (101), and a fixing frame (11) being connected to the lower end of the movable rod (102).

5. A detection and positioning UAV according to claim 4, characterized in that: The upper end of the movable rod (102) is designed as a spherical structure, and the hole diameter below the movable groove (101) is smaller than the maximum diameter of the spherical structure at the upper end of the movable rod (102).

6. A detection and positioning UAV according to claim 5, characterized in that: The lower oil pressure assembly (16) comprises a No. 1 oil pressure ring (161), the No. 1 oil pressure ring (161) being installed between a No. 1 ring frame (12) and a No. 2 ring frame (13), a plurality of No. 1 oil pressure chambers (162) being provided at equal angles in the circumferential direction at the upper end of the No. 1 oil pressure ring (161), a No. 1 plug body (163) being slidably connected to the inner side of the No. 1 oil pressure chamber (162) via a spring, the inner top end of the No. 1 plug body (163) corresponding to the position of the ball at the upper end of the movable rod (102).

7. A detection and positioning UAV according to claim 6, characterized in that: The upper oil pressure assembly (17) comprises a No. 2 oil pressure ring (171), the No. 2 oil pressure ring (171) being installed between a No. 2 ring frame (13) and a connecting frame (14), a plurality of No. 2 oil pressure chambers (172) being provided at equal angles in the circumferential direction at the lower end of the No. 2 oil pressure ring (171), a No. 2 plug body (173) being slidably connected in the No. 2 oil pressure chamber (172), and an inner top end of the No. 2 plug body (173) corresponding to the position of the swing block (15).

8. A detection and positioning UAV according to claim 7, characterized in that: The first oil pressure chamber (162) and the second oil pressure chamber (172) are located opposite to each other, and the first oil pressure chamber (162) is connected to the second oil pressure chamber (172) at a diagonal position via a hose.

9. A positioning method for a detection and positioning type UAV, applicable to a detection and positioning type UAV as claimed in any one of claims 8, characterized in that: The method comprises the following steps: S1: Start the drone and synchronously turn on the speed sensor (5), the contact displacement sensor (9) and the propeller (4) through the controller; S2: When the UAV is flying and exploring, the flight speed is collected in real time through the speed sensor (5) on the machine rod (3), and the attitude adjustment data of the base frame (2) during the flight process is collected through the contact displacement sensor (9) contacting the contact point (81); S3: During takeoff, the mounting ball (8) maintains a horizontal position in the ring (7), and the fixing frame (11) is connected to the mounting ball (8) via the movable assembly (10), so that the equipment on the fixing frame (11) maintains a vertical and stable shooting scanning angle; S4: During the hovering flight, the fixed frame (11) is affected by inertia and moves in the movable groove (101) via the movable rod (102) in the inertial direction, thereby reducing the influence on the position of the mounting ball (8); S5: The position of the movable rod (102) is corrected by moving the pendulum block (15) in the inertial direction in cooperation with the lower hydraulic assembly (16) and the upper hydraulic assembly (17); S6: The drone controller uses the positioning data during flight and cooperates with the radar or camera on the fixed frame (11) to locate the exploration area.

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